version: 66.10
glider: 169
mission: 5
dive: 276
start: 1 1 112 12 2 36
data:
$ID,169
$MISSION,5
$DIVE,276
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11069.168
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,010112,115500,2137.609,12410.686,41,1.0,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.7
$GPS2,010112,120214,2137.567,12410.715,15,1.5,15,-2.9
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2132.168,12400.660
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,242.9,20000,-14.5,-9.167
$D_GRID,5598
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-194.6,0.0,0.0,0,110,0.00,0.00,-90.62,0.000,2,0.000,0.000,117,2691,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.60,-194.6,3.8,-7.9,16,139,6.95,1.83,-13.02,0.000,4,0.231,0.053,1796,3832,3776,0,0,0,0,0,0,25.10,26.03,26.51
$GC,292,-0.52,-194.6,70.3,-32.0,50,299,0.15,1.85,0.00,0.000,6,0.155,0.024,1843,2582,3776,0,0,0,0,0,0,25.80,26.20,28.83
$GC,605,-0.43,-194.6,162.1,-23.8,111,611,0.00,2.05,0.00,0.000,4,0.000,0.025,1850,1166,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,694,-0.46,-194.6,177.5,-9.7,128,701,0.00,2.25,0.00,0.000,6,0.000,0.038,1840,2654,3775,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1010,-0.40,-194.6,241.7,-19.0,171,1019,0.12,1.77,0.00,0.000,4,0.165,0.044,1871,3820,3775,0,0,0,0,0,0,26.19,26.19,28.83
$GC,1052,-0.38,-194.6,248.2,-15.4,175,1055,0.00,1.80,0.00,0.000,6,0.000,0.023,1871,2565,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1363,-0.37,-194.6,282.3,-11.8,206,1372,0.00,1.98,0.00,0.000,4,0.000,0.043,1861,3822,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1406,-0.37,-194.6,287.0,-11.6,210,1414,0.05,1.83,0.00,0.000,6,0.100,0.022,1886,2560,3775,0,0,0,0,0,0,26.27,26.47,28.83
$GC,1715,-0.40,-194.6,311.4,-7.6,241,1719,0.00,1.98,0.00,0.000,4,0.000,0.043,1877,3821,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1739,-0.43,-194.6,313.0,-7.4,243,1746,0.00,1.80,0.00,0.000,6,0.000,0.023,1877,2553,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2049,-0.46,-194.6,336.8,-8.3,274,2058,0.00,1.98,0.00,0.000,4,0.000,0.044,1869,3830,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2074,-0.49,-194.6,338.7,-8.3,276,2081,0.00,1.83,0.00,0.000,6,0.000,0.023,1869,2555,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2382,-0.52,-194.6,365.3,-8.1,307,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2554,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2682,-0.54,-194.6,390.0,-6.5,337,2692,0.10,1.95,0.00,0.000,4,0.090,0.041,1783,3808,3773,0,0,0,0,0,0,26.61,26.23,28.83
$GC,2725,-0.53,-194.6,394.7,-10.8,341,2735,0.17,1.80,0.00,0.000,6,0.125,0.022,1836,2557,3773,0,0,0,0,0,0,26.08,26.48,28.83
$GC,3035,-0.52,-194.6,427.6,-10.4,372,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2558,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,-0.51,-194.6,458.3,-10.7,402,3347,0.00,1.98,0.00,0.000,4,0.000,0.044,1827,3820,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3410,-0.53,-194.6,466.0,-9.2,409,3414,0.00,1.80,0.00,0.000,6,0.000,0.022,1827,2569,3770,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3721,-0.51,-194.6,504.3,-13.1,440,3725,0.00,1.98,0.00,0.000,4,0.000,0.046,1818,3819,3768,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3773,-0.51,-194.6,510.3,-11.4,445,3776,0.00,1.80,0.00,0.000,6,0.000,0.023,1817,2568,3768,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4085,-0.50,-194.6,548.8,-12.3,476,4095,0.12,1.95,0.00,0.000,4,0.135,0.043,1853,3820,3766,0,0,0,0,0,0,26.34,26.20,28.83
$GC,4127,-0.52,-194.6,553.1,-9.8,480,4131,0.00,1.83,0.00,0.000,6,0.000,0.024,1853,2560,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4439,-0.55,-194.6,574.6,-6.6,511,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2557,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-0.59,-194.6,593.8,-6.4,541,4749,0.00,2.00,0.00,0.000,4,0.000,0.045,1846,3831,3761,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4776,-0.63,-194.6,595.9,-6.3,544,4783,0.12,1.83,0.00,0.000,6,0.083,0.024,1771,2558,3761,0,0,0,0,0,0,26.33,26.44,28.83
$GC,5082,-0.58,-194.6,644.8,-16.6,562,5084,0.17,0.00,0.00,0.000,6,0.129,0.000,1824,2557,3759,0,0,0,0,0,0,26.20,28.83,28.83
$GC,5382,-0.58,-194.6,675.4,-9.3,577,5386,0.00,2.00,0.00,0.000,4,0.000,0.046,1816,3820,3756,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5426,-0.59,-194.6,678.9,-8.8,579,5429,0.00,1.83,0.00,0.000,6,0.000,0.024,1816,2567,3757,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5747,-0.59,-194.6,706.1,-8.7,595,5753,0.00,1.98,0.00,0.000,4,0.000,0.046,1807,3818,3755,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5796,-0.59,-194.6,709.4,-8.4,597,5799,0.00,1.80,0.00,0.000,6,0.000,0.024,1807,2574,3754,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6107,-0.59,-194.6,740.5,-10.0,613,6111,0.00,1.98,0.00,0.000,4,0.000,0.048,1798,3819,3753,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6151,-0.59,-194.6,744.8,-10.4,615,6154,0.00,1.83,0.00,0.000,6,0.000,0.027,1798,2570,3752,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6469,-0.58,-194.6,779.4,-10.6,631,6473,0.00,2.03,0.00,0.000,4,0.000,0.031,1798,1183,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6504,-0.57,-194.6,781.8,-10.6,632,6512,0.12,2.25,0.00,0.000,6,0.125,0.041,1827,2658,3749,0,0,0,0,0,0,26.01,26.15,28.83
$GC,6813,-0.59,-194.6,806.7,-7.6,648,6818,0.00,2.17,0.00,0.000,4,0.000,0.028,1828,1182,3748,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6835,-0.61,-194.6,808.4,-7.6,649,6839,0.00,2.25,0.00,0.000,6,0.000,0.041,1825,2653,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7147,-0.62,-194.6,831.4,-6.9,665,7151,0.00,1.83,0.00,0.000,4,0.000,0.049,1817,3815,3745,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7178,-0.64,-194.6,832.8,-6.7,666,7182,0.00,1.80,0.00,0.000,6,0.000,0.024,1817,2573,3745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7490,-0.65,-194.6,856.6,-7.3,682,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2565,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7791,-0.66,-194.6,881.3,-8.7,697,7796,0.00,1.95,0.00,0.000,4,0.000,0.048,1809,3806,3742,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7830,-0.68,-194.6,884.8,-8.7,699,7833,0.00,1.83,0.00,0.000,6,0.000,0.025,1809,2566,3742,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8151,-0.68,-194.6,916.3,-9.6,715,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2561,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,-0.68,-194.6,942.7,-8.3,730,8457,0.00,1.98,0.00,0.000,4,0.000,0.047,1800,3822,3738,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8499,-0.69,-194.6,946.3,-8.5,732,8503,0.00,1.85,0.00,0.000,6,0.000,0.025,1800,2573,3738,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8812,-0.69,-194.6,973.8,-8.4,748,8817,0.00,1.95,0.00,0.000,4,0.000,0.047,1791,3816,3736,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8839,-0.69,-194.6,975.5,-8.4,749,8843,0.00,1.83,0.00,0.000,6,0.000,0.024,1791,2566,3736,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9009,-0.20,0.0,990.7,-8.8,757,9189,0.43,0.12,169.20,1.172,6,0.099,0.086,1940,2539,2970,0,0,0,0,0,0,25.81,24.73,23.58
$STATE,9190,end apogee,CONTROL_FINISHED_OK
$STATE,9190,begin climb
$GC,9192,0.60,194.6,997.3,0.0,766,9388,0.70,0.00,185.40,1.180,6,0.048,0.000,2209,2539,2174,0,0,0,0,0,0,25.01,28.83,23.06
$GC,9688,0.52,194.6,926.6,18.2,791,9694,0.12,2.00,0.00,0.000,4,0.190,0.044,2169,3813,2154,0,0,0,0,0,0,25.65,25.83,28.83
$GC,9746,0.44,194.6,916.2,17.7,794,9752,0.00,2.08,0.00,0.000,6,0.000,0.031,2179,2467,2153,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10067,0.39,194.6,870.1,13.6,810,10073,0.12,2.10,0.00,0.000,4,0.184,0.044,2142,3810,2151,0,0,0,0,0,0,25.87,26.01,28.83
$GC,10109,0.34,194.6,864.6,13.6,812,10114,0.12,2.05,0.00,0.000,6,0.168,0.029,2121,2462,2150,0,0,0,0,0,0,25.80,26.12,28.83
$GC,10422,0.34,194.6,834.2,9.7,828,10428,0.00,2.12,0.00,0.000,4,0.000,0.046,2121,3810,2150,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10446,0.33,194.6,832.0,10.0,829,10452,0.00,2.05,0.00,0.000,6,0.000,0.029,2131,2458,2149,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10762,0.31,194.6,798.4,10.1,845,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2456,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,0.32,204.3,769.6,8.9,860,11070,0.00,2.15,0.00,0.000,4,0.000,0.047,2131,3813,2148,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11096,0.31,211.9,767.6,8.9,861,11116,0.00,2.05,14.30,0.984,6,0.000,0.030,2142,2451,2115,0,0,0,0,0,0,28.83,26.20,24.59
$GC,11422,0.31,220.7,736.6,8.9,877,11431,0.12,2.12,3.22,0.621,4,0.166,0.040,2113,1060,2077,0,0,0,0,0,0,25.97,26.11,24.18
$GC,11461,0.34,251.0,733.7,8.2,879,11501,0.00,2.25,28.58,1.001,6,0.000,0.040,2114,2528,1956,0,0,0,0,1,0,28.83,26.07,24.25
$GC,11819,0.36,251.0,704.2,9.2,897,11825,0.00,2.05,2.08,0.263,4,0.000,0.047,2114,3818,1954,0,0,0,0,0,0,28.83,25.96,23.70
$GC,11859,0.38,251.0,699.9,10.2,899,11864,0.00,2.08,0.00,0.000,6,0.000,0.028,2124,2459,1964,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12180,0.38,251.0,666.6,10.0,915,12183,0.00,0.00,1.65,0.198,6,0.000,0.000,2124,2458,1952,0,0,0,0,0,0,28.83,28.83,25.39
$GC,12481,0.42,268.5,638.9,8.6,930,12509,0.00,0.00,26.85,0.917,6,0.000,0.000,2124,2457,1883,0,0,0,0,0,0,28.83,28.83,24.63
$GC,12802,0.51,325.3,614.5,7.4,946,12865,0.12,2.25,55.97,0.918,4,0.076,0.045,2208,3809,1640,0,0,0,0,0,0,26.26,25.40,24.33
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$STATE,17618,end climb,SURFACE_DEPTH_REACHED
$STATE,17618,begin surface coast
$FINISH,0.1,0.999015
$STATE,17650,end surface coast,CONTROL_FINISHED_OK
$STATE,17650,begin surface
$SM_CCo,17726,0.00,0.000,0,0,816,530.58
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$IRIDIUM_FIX,2134.17,12413.56,010112,060640
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.55
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,10.1,36.671
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.500,153.525,653.250,0.000,0.000,30.773,20.536,237.132,0.000,0.000,16.766,3648.420,10266.941,752.634,3086.253,376.112,0.000,2260.422,0.000,2618.934,0.000,0.543,0.000
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$SENSOR_SECS,1047.776,2040.091,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330404
$DATA_FILE_SIZE,100311,1543
$CAP_FILE_SIZE,193922,0
$CFSIZE,260165632,197541888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010112,165907,2134.367,12409.862,37,1.5,37,-2.9